Code improvement

Runtime/HumanoidControl/Scripts/Animator/ArmAnimator.cs

@@ -2,6 +2,7 @@ using UnityEngine;
 
 namespace Passer.Humanoid {
     using Humanoid.Tracking;
+    using Passer.Tracking;
 
     [System.Serializable]
     public class ArmPredictor : Humanoid.ArmSensor {
@@ -10,6 +11,10 @@ namespace Passer.Humanoid {
             get { return Tracker.Status.Tracking; }
             set { }
         }
+
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
     }
 
     [System.Serializable]
@@ -21,6 +26,10 @@ namespace Passer.Humanoid {
             set { }
         }
 
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
+
         public bool armSwing;
         [HideInInspector]
         protected Vector3 foot2hand;

Runtime/HumanoidControl/Scripts/Animator/HeadAnimator.cs

@@ -1,12 +1,17 @@
 using UnityEngine;
 
 namespace Passer.Humanoid {
+    using Passer.Tracking;
 
     [System.Serializable]
     public class HeadAnimator : HeadSensor {
         public bool headAnimation = true;
         public bool faceAnimation = true;
 
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
+
         #region Update
         public override void Update() {
             if (!headTarget.humanoid.animatorEnabled || !enabled || headTarget.humanoid.targetsRig.runtimeAnimatorController != null)

Runtime/HumanoidControl/Scripts/Animator/HeadPredictor.cs

@@ -1,12 +1,17 @@
 using UnityEngine;
 
 namespace Passer.Humanoid {
+    using Passer.Tracking;
 
     [System.Serializable]
     public class HeadPredictor : HeadSensor {
         private Vector3 positionalVelocity;
         private Quaternion rotationalVelocity;
 
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
+
         public override void Start(HumanoidControl _humanoid, Transform targetTransform) {
             base.Start(_humanoid, targetTransform);
         }

Runtime/HumanoidControl/Scripts/Animator/LegAnimator.cs

@@ -1,10 +1,15 @@
 using UnityEngine;
 
 namespace Passer.Humanoid {
-    using Humanoid.Tracking;
+    using Passer.Tracking;
 
     [System.Serializable]
     public class LegAnimator : LegSensor {
+
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
+
         private LegAnimator leftAnimator;
         private LegAnimator rightAnimator;
 

Runtime/HumanoidControl/Scripts/Animator/TorsoAnimator.cs

@@ -1,11 +1,15 @@
 using UnityEngine;
 
 namespace Passer.Humanoid {
-    using Humanoid.Tracking;
+    using Passer.Tracking;
 
     [System.Serializable]
     public class TorsoAnimator : TorsoSensor {
 
+        public override SensorComponent GetSensorComponent() {
+            return null;
+        }
+
         public enum BodyRotation {
             HeadRotation = 1,
             HeadAndHandRotation = 2,

Runtime/HumanoidControl/Scripts/Extensions/ArmSensor.cs

@@ -10,7 +10,7 @@ namespace Passer.Humanoid {
     /// <summary>
     /// An sensors used on the arm of a Humanoid
     /// </summary>
-    public class ArmSensor : HumanoidSensor {
+    public abstract class ArmSensor : HumanoidSensor {
         /// <summary>
         /// The HandTarget for this sensor
         /// </summary>
@@ -24,7 +24,7 @@ namespace Passer.Humanoid {
         /// <summary>
         /// The sensor used for this arm
         /// </summary>
-        public SensorComponent sensorComponent;
+        //public SensorComponent sensorComponent;
 
         /// <summary>
         /// The skeleton for the hand
@@ -367,7 +367,7 @@ namespace Passer.Humanoid {
 }
 
 namespace Passer.Humanoid {
-    public class ArmController : Humanoid.ArmSensor {
+    public abstract class ArmController : Humanoid.ArmSensor {
         protected Humanoid.Tracking.Sensor.ID sensorID;
         protected Controller controllerInput;
         public Humanoid.Tracking.ArmController oldController;

Runtime/HumanoidControl/Scripts/Extensions/HeadSensor.cs

@@ -6,14 +6,14 @@ using UnityEditor;
 namespace Passer.Humanoid {
     using Passer.Tracking;
 
-    public class HeadSensor : HumanoidSensor {
+    public abstract class HeadSensor : HumanoidSensor {
         protected HeadTarget headTarget {
             get { return target as HeadTarget; }
         }
 
         protected HumanoidControl humanoid => headTarget.humanoid;
 
-        public SensorComponent sensorComponent;
+        //public SensorComponent sensorComponent;
         protected new Tracking.HeadSensor sensor;
 
 

Runtime/HumanoidControl/Scripts/Extensions/HumanoidSensor.cs

@@ -4,30 +4,33 @@ namespace Passer.Humanoid {
     using Passer.Tracking;
 
     [System.Serializable]
-    public class HumanoidSensor : Sensor {
+    public abstract class HumanoidSensor : Sensor {
 
         public HumanoidSensor() {
             enabled = true;
         }
 
-        //public new HumanoidTracker tracker;
         public new virtual HumanoidTracker tracker => null;
 
         protected Tracking.Sensor sensor;
 
+        public SensorComponent sensorComponent;
+        /// <summary>
+        /// Returns sensorComponent and creates a new sensorComponent if it does not exist
+        /// </summary>
+        /// <returns></returns>
+        public abstract SensorComponent GetSensorComponent();
+
         [System.NonSerialized]
         public const string _name = "";
         public override string name { get { return _name; } }
 
-        //public Transform sensorTransform;
 
         public Vector3 sensor2TargetPosition;
         public Quaternion sensor2TargetRotation;
 
         #region Start
-        //public virtual void Init(HumanoidTracker _tracker) {
+
-        //    tracker = _tracker;
-        //}
 
         public virtual void Start(HumanoidControl _humanoid, Transform targetTransform) {
             target = targetTransform.GetComponent<Target>();

Runtime/HumanoidControl/Scripts/Extensions/LegSensor.cs

@@ -6,13 +6,12 @@ using UnityEditor;
 namespace Passer.Humanoid {
     using Passer.Tracking;
 
-    public class LegSensor : HumanoidSensor {
+    public abstract class LegSensor : HumanoidSensor {
         protected FootTarget footTarget => target as FootTarget;
 
         protected HumanoidControl humanoid => footTarget.humanoid;
 
-        public SensorComponent sensorComponent;
+        //public SensorComponent sensorComponent;
-        //protected new Tracking.LegSensor sensor;
 
         #region Manage
 

Runtime/HumanoidControl/Scripts/Extensions/Sensor.cs

@@ -3,7 +3,7 @@
 namespace Passer {
 
     [System.Serializable]
-    public class Sensor {
+    public abstract class Sensor {
         public bool enabled;
         public virtual Tracker.Status status { get; set; }
 

Runtime/HumanoidControl/Scripts/Extensions/TorsoSensor.cs

@@ -6,7 +6,7 @@ using UnityEditor;
 namespace Passer.Humanoid {
     using Passer.Tracking;
 
-    public class TorsoSensor : HumanoidSensor {
+    public abstract class TorsoSensor : HumanoidSensor {
 
         protected HipsTarget hipsTarget {
             get { return (HipsTarget)target; }
@@ -14,7 +14,7 @@ namespace Passer.Humanoid {
 
         protected HumanoidControl humanoid => hipsTarget.humanoid;
 
-        public SensorComponent sensorComponent;
+        //public SensorComponent sensorComponent;
         protected new Tracking.TorsoSensor sensor;
 
         #region Manage

Runtime/HumanoidControl/Scripts/Extensions/Tracker.cs

@@ -12,9 +12,9 @@ namespace Passer {
         /// The tracking status
         /// </summary>
         public enum Status {
-            Unavailable, //< The tracking device is not available
+            Unavailable, ///< The tracking device is not available
-            Present,     //< The tracking device is available but not tracking
+            Present,     ///< The tracking device is available but not tracking
-            Tracking     //< The tracking device is actively tracking
+            Tracking     ///< The tracking device is actively tracking
         }
 
         /// <summary>

Runtime/HumanoidControl/Scripts/Extensions/TrackerComponent.cs

@@ -22,40 +22,13 @@ namespace Passer.Tracking {
     /// </summary>
     public class TrackerComponent : MonoBehaviour {
 
+        /// <summary>
+        /// The status of the tracking device
+        /// </summary>
         public Tracker.Status status;
 
         protected Transform realWorld;
 
-        //[SerializeField]
-        //protected bool _show = true;
-        //public virtual bool show {
-        //    set {
-        //        if (value == true && !_show) {
-        //            renderTracker = true;
-
-        //            _show = true;
-        //        }
-        //        else if (value == false && _show) {
-        //            renderTracker = false;
-
-        //            _show = false;
-        //        }
-        //    }
-        //    get {
-        //        return _show;
-        //    }
-        //}
-
-        //protected bool renderTracker {
-        //    set {
-        //        UnityEngine.Debug.Log("tracker show " + value);
-        //        Renderer[] renderers = this.GetComponentsInChildren<Renderer>();
-        //        foreach (Renderer renderer in renderers)
-        //            renderer.enabled = value;
-        //    }
-        //}
-
-
         protected virtual void Start() { }
 
         protected virtual void Update() { }

Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHand.cs

@@ -11,6 +11,26 @@ namespace Passer.Humanoid {
 #if hCUSTOM
         public override HumanoidTracker tracker => humanoid.unityXR;
 #endif
+        public override SensorComponent GetSensorComponent() {
+            if (sensorComponent != null)
+                return sensorComponent;
+
+            Vector3 position = handTarget.transform.TransformPoint(handTarget.isLeft ? -0.1F : 0.1F, -0.05F, 0.04F);
+            Quaternion localRotation = handTarget.isLeft ? Quaternion.Euler(180, 90, 90) : Quaternion.Euler(180, -90, -90);
+            Quaternion rotation = handTarget.transform.rotation * localRotation;
+#if hSTEAMVR
+            if (UnityXRDevice.xrDevice == UnityXRDevice.XRDeviceType.OpenVR) {
+                SteamVR steamVR = unityXR.trackerComponent as SteamVR;
+                controller = steamVR.GetController(handTarget.isLeft, position, rotation);
+            }
+            else
+#endif
+            {
+                UnityXR unityXRcomponent = unityXR.trackerComponent as UnityXR;
+                controller = unityXRcomponent.GetController(handTarget.isLeft, position, rotation);
+            }
+            return controller as SensorComponent;
+        }
 
         protected UnityXRTracker unityXR => humanoid.unityXR;
 

Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHead.cs

@@ -10,12 +10,23 @@ namespace Passer.Humanoid {
             get { return "Unity XR"; }
         }
 
-#if hCUSTOM
         public override HumanoidTracker tracker => humanoid.unityXR;
-#endif
 
-        protected UnityXRTracker unityXR {
+        public UnityXR unityXR => tracker.trackerComponent as UnityXR;
-            get { return humanoid.unityXR; }
+        //protected UnityXRTracker unityXR => humanoid.unityXR;
+
+        public override SensorComponent GetSensorComponent() {
+            if (sensorComponent != null)
+                return sensorComponent;
+
+            if (tracker.trackerComponent == null)
+                tracker.CheckTracker(humanoid);
+
+            Vector3 position = headTarget.transform.TransformPoint(headTarget.head2eyes);
+            Quaternion rotation = headTarget.transform.rotation;
+            UnityXR unityXRtracker = tracker.trackerComponent as UnityXR;
+            sensorComponent = unityXRtracker.GetHmd(position, rotation);
+            return sensorComponent;
         }
 
         #region Manage
@@ -26,15 +37,15 @@ namespace Passer.Humanoid {
             if (this.headTarget == null)
                 return;
 
-            if (unityXR.trackerComponent == null) {
+            if (tracker.trackerComponent == null) {
-                unityXR.CheckTracker(humanoid);
+                tracker.CheckTracker(humanoid);
             }
 
-            if (enabled && unityXR.trackerComponent != null && unityXR.trackerComponent.enabled) {
+            if (enabled && tracker.trackerComponent != null && tracker.trackerComponent.enabled) {
                 if (sensorComponent == null) {
                     Vector3 position = headTarget.transform.TransformPoint(headTarget.head2eyes);
                     Quaternion rotation = headTarget.transform.rotation;
-                    UnityXR unityXRtracker = unityXR.trackerComponent as UnityXR;
+                    UnityXR unityXRtracker = tracker.trackerComponent as UnityXR;
                     sensorComponent = unityXRtracker.GetHmd(position, rotation);
                 }
                 if (sensorComponent != null)
@@ -55,6 +66,20 @@ namespace Passer.Humanoid {
             }
         }
 
+        public UnityXRHmd GetSensor() {
+            Vector3 position = headTarget.transform.TransformPoint(headTarget.head2eyes);
+            Quaternion rotation = headTarget.transform.rotation;
+            UnityXR unityXRtracker = tracker.trackerComponent as UnityXR;
+            return GetSensor(position, rotation);
+        }
+
+        private UnityXRHmd GetSensor(Vector3 position, Quaternion rotation) {
+            if (sensorComponent == null) {
+                sensorComponent = unityXR.GetHmd(position, rotation);
+            }
+            return sensorComponent as UnityXRHmd;
+        }
+
         #endregion
 
         #region Start
@@ -77,7 +102,7 @@ namespace Passer.Humanoid {
             else
 #endif 
             {
-                UnityXR unityXRtracker = unityXR.trackerComponent as UnityXR;
+                UnityXR unityXRtracker = tracker.trackerComponent as UnityXR;
                 sensorComponent = unityXRtracker.GetHmd(position, rotation);
             }
             if (sensorComponent != null)
@@ -88,7 +113,7 @@ namespace Passer.Humanoid {
             sensor2TargetPosition = -headTarget.head2eyes;
 
             if (sensorComponent != null)
-                sensorComponent.StartComponent(unityXR.trackerComponent.transform);
+                sensorComponent.StartComponent(tracker.trackerComponent.transform);
         }
 
         #endregion
@@ -98,7 +123,7 @@ namespace Passer.Humanoid {
         protected bool calibrated = false;
         public override void Update() {
             status = Tracker.Status.Unavailable;
-            if (unityXR.trackerComponent == null || !unityXR.trackerComponent.enabled || !enabled)
+            if (tracker.trackerComponent == null || !tracker.trackerComponent.enabled || !enabled)
                 return;
 
             if (sensorComponent == null)